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| Enforcing spatio-temporal collaborations in distributed predictive
control under temporally relaxed STL specifications |
| HongboYang1,2,3,YuanyuanZou1,2,3,ShaoyuanLi1,2,3 |
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| (School of Automation and Intelligent Sensing, Shanghai Jiao
Tong University, Shanghai 200240, China
Key Laboratory of System Control and Information
Processing, Ministry of Education of China, Shanghai
200240, China
Shanghai Key Laboratory of Perception and Control in
Industrial Network Systems, Shanghai 200240, China) |
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| 摘要: |
| This paper introduces spatio-temporal collaboration (STC), a novel formalism for coordinating multi-agent systems under
signal temporal logic (STL). STC defines critical inter-agent dependencies that may be violated by the cascading delays
resulting from temporal relaxation, a common method for resolving local task conflicts. To address this issue, we first analyze
the propagation of task delays through dependent tasks. A time interval refinement strategy is then proposed to maintain
the required collaborations. This strategy is integrated into a distributed predictive control algorithm, ensuring simultaneous
satisfaction of both STL specifications and STC relations while preserving recursive feasibility and closed-loop stability.
Validation via a case study demonstrates the effectiveness of proposed strategy in preventing collaboration failures. |
| 关键词: Collaborative control · Signal temporal logic · Multi-agent system · Temporal relaxation · Distributed predictive
control |
| DOI：https://doi.org/10.1007/s11768-026-00319-4 |
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| 基金项目:This work was supported by the National Natural Science Foundation
of China under Grant Nos. 62533017 and 62173224. |
|
| Enforcing spatio-temporal collaborations in distributed predictivecontrol under temporally relaxed STL specifications |
| Hongbo Yang1,2,3,Yuanyuan Zou1,2,3,Shaoyuan Li1,2,3 |
| (School of Automation and Intelligent Sensing, Shanghai Jiao
Tong University, Shanghai 200240, China
Key Laboratory of System Control and Information
Processing, Ministry of Education of China, Shanghai
200240, China
Shanghai Key Laboratory of Perception and Control in
Industrial Network Systems, Shanghai 200240, China) |
| Abstract: |
| This paper introduces spatio-temporal collaboration (STC), a novel formalism for coordinating multi-agent systems under
signal temporal logic (STL). STC defines critical inter-agent dependencies that may be violated by the cascading delays
resulting from temporal relaxation, a common method for resolving local task conflicts. To address this issue, we first analyze
the propagation of task delays through dependent tasks. A time interval refinement strategy is then proposed to maintain
the required collaborations. This strategy is integrated into a distributed predictive control algorithm, ensuring simultaneous
satisfaction of both STL specifications and STC relations while preserving recursive feasibility and closed-loop stability.
Validation via a case study demonstrates the effectiveness of proposed strategy in preventing collaboration failures. |
| Key words: Collaborative control · Signal temporal logic · Multi-agent system · Temporal relaxation · Distributed predictive
control |
